本文關(guān)鍵詞：基于自適應(yīng)動(dòng)態(tài)規(guī)劃的可重構(gòu)機(jī)械臂容錯(cuò)控制方法研究　出處：《長(zhǎng)春工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

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【摘要】：隨著現(xiàn)代科學(xué)技術(shù)的不斷推進(jìn),以及“十三五”國(guó)家科技創(chuàng)新規(guī)劃的部署,針對(duì)像可重構(gòu)機(jī)械臂一類具有模塊化、靈活性等特點(diǎn),以及對(duì)外界環(huán)境與操作任務(wù)具有強(qiáng)大適應(yīng)能力的智能機(jī)械設(shè)備,將被大力發(fā)展應(yīng)用于深空探測(cè)、智能工廠以及核工業(yè)等很多應(yīng)用領(lǐng)域中。然而,當(dāng)可重構(gòu)機(jī)械臂長(zhǎng)期工作在極端的惡劣環(huán)境下,其執(zhí)行機(jī)構(gòu)等元器件不可避免會(huì)發(fā)生故障。若不及時(shí)對(duì)其進(jìn)行處理,將會(huì)帶來重大的財(cái)產(chǎn)損失。因此,研究故障診斷與容錯(cuò)控制方法來解決此類問題以維持系統(tǒng)可靠的性能十分迫切。與此同時(shí),在提高可重構(gòu)機(jī)械臂系統(tǒng)的控制精度,簡(jiǎn)化控制器結(jié)構(gòu)以及優(yōu)化能源代價(jià)消耗這方面的研究也十分必要,不僅將為復(fù)雜機(jī)構(gòu)的機(jī)器人以及大型工程機(jī)械的實(shí)際應(yīng)用提供有力的技術(shù)支持,同時(shí)對(duì)機(jī)械設(shè)備向著自動(dòng)化、智能化以及最優(yōu)化的方向健康發(fā)展具有切實(shí)深遠(yuǎn)的意義。本文首先利用剛體的動(dòng)力學(xué)方程幾何公式,通過Newton-Euler迭代算法,建立了可重構(gòu)機(jī)械臂系統(tǒng)動(dòng)力學(xué)模型,并在此基礎(chǔ)上,給出了故障系統(tǒng)動(dòng)力學(xué)模型。其次,針對(duì)軌跡跟蹤問題,為了提高系統(tǒng)的控制精度,優(yōu)化能源消耗以及簡(jiǎn)化控制器的結(jié)構(gòu)。結(jié)合最優(yōu)控制理論知識(shí),設(shè)計(jì)一種基于單網(wǎng)絡(luò)評(píng)價(jià)結(jié)構(gòu)策略迭代(Critic-only Policy Iteration,CoPI)算法的可重構(gòu)機(jī)械臂最優(yōu)跟蹤控制方法。利用神經(jīng)網(wǎng)絡(luò)構(gòu)建了單網(wǎng)絡(luò)評(píng)價(jià)機(jī)構(gòu)。通過CoPI算法計(jì)算得出最優(yōu)的反饋跟蹤控制律,并結(jié)合名義控制律共同構(gòu)成的全局跟蹤控制律確保了系統(tǒng)的跟蹤誤差漸近收斂至零。然后,考慮到可重構(gòu)機(jī)械臂在不同的任務(wù)需求中,可能存在模塊增減的情況,則分散控制思想更加適合于可重構(gòu)機(jī)械臂控制。同時(shí)為了兼?zhèn)洹白顑?yōu)化”思想,故提出一種基于觀測(cè)器評(píng)價(jià)結(jié)構(gòu)自適應(yīng)動(dòng)態(tài)規(guī)劃(Adaptive dynamic programming,ADP)算法的分散控制方法。為了解決對(duì)耦合交聯(lián)項(xiàng)處理的難點(diǎn),本章結(jié)合替換思想與觀測(cè)器技術(shù),采用神經(jīng)網(wǎng)絡(luò)對(duì)替換處理后的子系統(tǒng)動(dòng)力學(xué)模型進(jìn)行辨識(shí)。利用CoPI算法設(shè)計(jì)局部反饋控制器,采用自適應(yīng)魯棒項(xiàng)來抵消系統(tǒng)的整體逼近誤差,并結(jié)合設(shè)計(jì)的局部名義控制器共同保證了系統(tǒng)的軌跡跟蹤誤差漸近收斂至零。最后,針對(duì)執(zhí)行器發(fā)生故障的可重構(gòu)機(jī)械臂系統(tǒng),基于ADP理論和故障觀測(cè)器,提出一種改進(jìn)性能指標(biāo)函數(shù)ADP算法的容錯(cuò)控制策略。利用自適應(yīng)故障觀測(cè)器對(duì)執(zhí)行器故障的觀測(cè)值設(shè)計(jì)一種改進(jìn)的性能指標(biāo)函數(shù)。將容錯(cuò)控制問題轉(zhuǎn)化為最優(yōu)控制問題來處理。容錯(cuò)控制器由名義控制器與最優(yōu)反饋控制器兩部分組成,設(shè)計(jì)名義控制器是為了保證系統(tǒng)的跟蹤性能能夠穩(wěn)定到零,最優(yōu)反饋控制器是為了使跟蹤誤差以最優(yōu)的方式收斂于穩(wěn)定的狀態(tài)。仿真實(shí)驗(yàn)驗(yàn)證了所設(shè)計(jì)的觀測(cè)器與控制器的有效性。
[Abstract]:With the continuous advancement of modern science and technology, and the deployment of the 13th Five-Year Plan of National Science and Technology Innovation Plan, it has the characteristics of modularization and flexibility, such as reconfigurable manipulator. Intelligent mechanical equipment with strong adaptability to external environment and operation tasks will be developed and applied in many applications such as deep space exploration, intelligent factories and nuclear industry. When the reconfigurable manipulator works in an extremely bad environment for a long time, its actuator and other components will inevitably fail. If it is not dealt with in time, it will bring great property losses. It is very urgent to study fault diagnosis and fault-tolerant control methods to solve such problems in order to maintain the reliable performance of the system. At the same time, the control accuracy of the reconfigurable manipulator system is improved. It is also necessary to simplify the structure of controller and optimize the cost of energy consumption, which will not only provide powerful technical support for the practical application of robot with complex mechanism and large construction machinery. At the same time, it has a practical and far-reaching significance for the development of mechanical equipment towards the direction of automation, intelligence and optimization. Firstly, the geometric formula of dynamics equation of rigid body is used in this paper. The dynamic model of reconfigurable manipulator system is established by Newton-Euler iterative algorithm, and on this basis, the dynamic model of fault system is given. Secondly, the trajectory tracking problem is addressed. In order to improve the control accuracy, optimize the energy consumption and simplify the structure of the controller, combined with the knowledge of optimal control theory. An iterative critical only Policy Iteration based on a single network evaluation structure strategy is designed. The optimal tracking control method of reconfigurable manipulator is proposed. A single network evaluation mechanism is constructed using neural network. The optimal feedback tracking control law is obtained by CoPI algorithm. The global tracking control law combined with the nominal control law ensures that the tracking error of the system converges to zero asymptotically. Then, considering the reconfigurable manipulator in different task requirements. If there is an increase or decrease of modules, the idea of decentralized control is more suitable for the control of reconfigurable manipulators, and for the sake of "optimization". This paper presents an adaptive dynamic programming based on observer to evaluate the structure of adaptive dynamic programming. In order to solve the difficulty of dealing with the coupling crosslinking term, this chapter combines the idea of substitution with observer technology. The neural network is used to identify the dynamic model of the subsystem after replacement, the local feedback controller is designed by CoPI algorithm, and the adaptive robust term is used to offset the global approximation error of the system. Combined with the designed local nominal controller, the trajectory tracking error of the system converges asymptotically to zero. Finally, for the reconfigurable manipulator system with actuator failure, based on ADP theory and fault observer. An improved fault-tolerant control strategy based on ADP algorithm for performance index function is proposed. An improved performance index function is designed by using the observations of adaptive fault observer for actuator faults. The problem of fault-tolerant control is transformed into the most important problem. The fault-tolerant controller consists of a nominal controller and an optimal feedback controller. Nominal controller is designed to ensure that the tracking performance of the system can be stabilized to zero. The optimal feedback controller is designed to converge the tracking error to a stable state in an optimal manner. The simulation results show the effectiveness of the proposed observer and controller.
【學(xué)位授予單位】：長(zhǎng)春工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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